scholarly journals The SpaceDyn: a MATLAB Toolbox for Space and Mobile Robots

2000 ◽  
Vol 12 (4) ◽  
pp. 411-416 ◽  
Author(s):  
Kazuya Yoshida ◽  
Keyword(s):  
Mobile Robot ◽  
Dynamic Analysis ◽  
Mobile Robots ◽  
Numerical Simulations ◽  
Multibody Systems ◽  
Robotic System ◽  
Space Robot ◽  
Structural Flexibility ◽  
Matlab Toolbox ◽  
Moving Base

A collection of useful subroutines named the SpaceDyn is developed in order to offer an open, free tool of numerical simulations for researchers both in robotics and space engineering fields. The SpaceDyn is a MATLAB Toolbox for kinematic and dynamic analysis and simulation of articulated multibody systems with a moving base. Examples of such systems include a satellite with mechanical appendages, a free-flying space robot, a robotic system with structural flexibility, and a mobile robot, all of which makes motions in the environment with or without gravity.

Ultrasonic sensor system for the uses in intelligent motion control system of a mobile robots group

2010 ◽  
Vol 7 ◽  
pp. 109-117
Author(s):  
O.V. Darintsev ◽  
A.B. Migranov ◽  
B.S. Yudintsev
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Motion Control ◽  
High Speed ◽  
Ultrasonic Sensor ◽  
Sensor System ◽  
Motion Control System ◽  
Speed Sensor ◽  
Working Space

The article deals with the development of a high-speed sensor system for a mobile robot, used in conjunction with an intelligent method of planning trajectories in conditions of high dynamism of the working space.

scholarly journals An Optimal Footprint Based Coverage Planning for Hydro Blasting Robots

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1194
Author(s):  
Thejus Pathmakumar ◽  
Madan Mohan Rayguru ◽  
Sriharsha Ghanta ◽  
Manivannan Kalimuthu ◽  
Mohan Rajesh Elara
Keyword(s):  
Genetic Algorithm ◽  
Mobile Robots ◽  
Numerical Simulations ◽  
Labour Force ◽  
Successful Implementation ◽  
Multi Objective Optimization ◽  
Metallic Surfaces ◽  
Industrial Sites ◽  
Experimental Trials ◽  
Time And Energy

The hydro blasting of metallic surfaces is an essential maintenance task in various industrial sites. Its requirement of a considerable labour force and time, calls for automating the hydro blasting jobs through mobile robots. A hydro blasting robot should be able to cover the required area for a successful implementation. If a conventional robot footprint is chosen, the blasting may become inefficient, even though the concerned area is completely covered. In this work, the blasting arm’s sweeping angle is chosen as the robot’s footprint for hydro blasting task, and a multi-objective optimization-based framework is proposed to compute the optimal sweeping arc. The genetic algorithm (GA) methodology is exploited to compute the optimal footprint, which minimizes the blasting time and energy simultaneously. Multiple numerical simulations are performed to show the effectiveness of the proposed approach. Moreover, the strategy is successfully implemented on our hydro blasting robot named Hornbill, and the efficacy of the proposed approach is validated through experimental trials.

Vision for mobile robots

1992 ◽  
Vol 337 (1281) ◽  
pp. 341-350 ◽  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Structure From Motion ◽  
Optic Flow ◽  
Image Sequences ◽  
Additional Constraint ◽  
Feature Points ◽  
Scene Structure ◽  
Corner Points ◽  
Edge Points

Localized feature points, particularly corners, can be computed rapidly and reliably in images, and they are stable over image sequences. Corner points provide more constraint than edge points, and this additional constraint can be propagated effectively from corners along edges. Implemented algorithms are described to compute optic flow and to determine scene structure for a mobile robot using stereo or structure from motion. It is argued that a mobile robot may not need to compute depth explicitly in order to navigate effectively.

Dynmanto: A Matlab Toolbox for the Simulation and Analysis of Multibody Systems

2021 ◽  
Author(s):  
Alexander Held ◽  
Ali Moghadasi ◽  
Robert Seifried
Keyword(s):  
Multibody Systems ◽  
Matlab Toolbox

Efficient Dynamic Analysis Method for Multibody Systems With Constraint Violation Stabilization Method

1999 ◽  
Author(s):  
Apiwat Reungwetwattana ◽  
Shigeki Toyama
Keyword(s):  
Dynamic Analysis ◽  
Multibody Systems ◽  
Analysis Method ◽  
Stabilization Method ◽  
Kinematic Constraint ◽  
Constraint Violation ◽  
Closed Loops ◽  
Constraint Stabilization ◽  
Constraint Equations ◽  
Crank Mechanism

Abstract This paper presents an efficient extension of Rosenthal’s order-n algorithm for multibody systems containing closed loops. Closed topological loops are handled by cut joint technique. Violation of the kinematic constraint equations of cut joints is corrected by Baumgarte’s constraint violation stabilization method. A reliable approach for selecting the parameters used in the constraint stabilization method is proposed. Dynamic analysis of a slider crank mechanism is carried out to demonstrate efficiency of the proposed method.

scholarly journals Energy Modeling and Power Measurement for Mobile Robots

Energies ◽  
2018 ◽  
Vol 12 (1) ◽  
pp. 27 ◽  
Author(s):  
Linfei Hou ◽  
Liang Zhang ◽  
Jongwon Kim
Keyword(s):  
Control System ◽  
Energy Consumption ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Electrical Power ◽  
Energy Model ◽  
Energy Modeling ◽  
Power Measurement ◽  
Sensor System ◽  
System Control

To improve the energy efficiency of a mobile robot, a novel energy modeling method for mobile robots is proposed in this paper. The robot can calculate and predict energy consumption through the energy model, which provides a guide to facilitate energy-efficient strategies. The energy consumption of the mobile robot is first modeled by considering three major factors: the sensor system, control system, and motion system. The relationship between the three systems is elaborated by formulas. Then, the model is utilized and experimentally tested in a four-wheeled Mecanum mobile robot. Furthermore, the power measurement methods are discussed. The energy consumption of the sensor system and control system was at the milliwatt level, and a Monsoon power monitor was used to accurately measure the electrical power of the systems. The experimental results showed that the proposed energy model can be used to predict the energy consumption of the robot movement processes in addition to being able to efficiently support the analysis of the energy consumption characteristics of mobile robots.

A Task Based Approach to Mechatronic Systems Education

Volume 3 ◽  
2004 ◽  
Author(s):  
Kevin Firth ◽  
Brian Surgenor ◽  
Peter Wild
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Systems Engineering ◽  
Educational Tool ◽  
Electronic Components ◽  
Mechatronic Systems ◽  
Student Workload ◽  
Hands On ◽  
Hands On Learning ◽  
Elective Course

This paper describes an elective course in mechatronic systems engineering that is project based and team-oriented with hands-on learning. Working in small teams, students add electronic components to a mobile robot base and write the programs required to make the robot perform a series of tasks. Although the application of mobile robots as an educational tool in a mechatronics course is becoming the norm at many universities, the task based organization of the Queen’s mechatronics course is believed to have a number of novel features. The paper will review the pedagogy of the course, including aspects of the student workload, the interplay between teams, and the task based approach to marking and organization of the laboratories.

scholarly journals The PETLON Algorithm to Plan Efficiently for Task-Level-Optimal Navigation

2020 ◽  
Vol 69 ◽  
pp. 471-500
Author(s):  
Shih-Yun Lo ◽  
Shiqi Zhang ◽  
Peter Stone
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Mobile Robots ◽  
Large Scale ◽  
Accurate Estimate ◽  
Indoor Environments ◽  
Task Planning ◽  
Trade Offs ◽  
High Level ◽  
Task Level

Intelligent mobile robots have recently become able to operate autonomously in large-scale indoor environments for extended periods of time. In this process, mobile robots need the capabilities of both task and motion planning. Task planning in such environments involves sequencing the robot’s high-level goals and subgoals, and typically requires reasoning about the locations of people, rooms, and objects in the environment, and their interactions to achieve a goal. One of the prerequisites for optimal task planning that is often overlooked is having an accurate estimate of the actual distance (or time) a robot needs to navigate from one location to another. State-of-the-art motion planning algorithms, though often computationally complex, are designed exactly for this purpose of finding routes through constrained spaces. In this article, we focus on integrating task and motion planning (TMP) to achieve task-level-optimal planning for robot navigation while maintaining manageable computational efficiency. To this end, we introduce TMP algorithm PETLON (Planning Efficiently for Task-Level-Optimal Navigation), including two configurations with different trade-offs over computational expenses between task and motion planning, for everyday service tasks using a mobile robot. Experiments have been conducted both in simulation and on a mobile robot using object delivery tasks in an indoor office environment. The key observation from the results is that PETLON is more efficient than a baseline approach that pre-computes motion costs of all possible navigation actions, while still producing plans that are optimal at the task level. We provide results with two different task planning paradigms in the implementation of PETLON, and offer TMP practitioners guidelines for the selection of task planners from an engineering perspective.

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